scholarly journals Unmanned Ground Vehicle Modelling in Gazebo/ROS-Based Environments

Machines ◽  
2019 ◽  
Vol 7 (2) ◽  
pp. 42 ◽  
Author(s):  
Zandra B. Rivera ◽  
Marco C. De Simone ◽  
Domenico Guida
Keyword(s):  
Intelligent Systems ◽  
High Performance ◽  
Industrial Revolution ◽  
Production Quality ◽  
University Of Southern California ◽  
Human Machine Interaction ◽  
Prototype Development ◽  
Production Models ◽  
Integrated Devices ◽  
Outdoor Environments

The fusion of different technologies is the base of the fourth industrial revolution. Companies are encouraged to integrate new tools in their production processes in order to improve working conditions and increase productivity and production quality. The integration between information, communication technologies and industrial automation can create highly flexible production models for products and services that can be customized through real-time interactions between consumer, production and machinery throughout the production process. The future of production, therefore, depends on increasingly intelligent machinery through the use of digital systems. The key elements for future integrated devices are intelligent systems and machines, based on human–machine interaction and information sharing. To do so, the implementation of shared languages that allow different systems to dialogue in a simple way is necessary. In this perspective, the use of advanced prototyping tools like Open-Source programming systems, the development of more detailed multibody models through the use of CAD software and the use of self-learning techniques will allow for developing a new class of machines capable of revolutionizing our companies. The purpose of this paper is to present a waypoint navigation activity of a custom Wheeled Mobile Robot (WMR) in an available simulated 3D indoor environment by using the Gazebo simulator. Gazebo was developed in 2002 at the University of Southern California. The idea was to create a high-fidelity simulator that gave the possibility to simulate robots in outdoor environments under various conditions. In particular, we wanted to test the high-performance physics Open Dynamics Engine (ODE) and the sensors feature present in Gazebo for prototype development activities. This choice was made for the possibility of emulating not only the system under analysis, but also the world in which the robot will operate. Furthermore, the integration tools available with Solidworks and Matlab-Simulink, well known commercial platforms of modelling and robotics control respectively, are also explored.

scholarly journals High-performance magneto-rheological clutches for direct-drive actuation: Design and development

2021 ◽  
pp. 1045389X2110069
Author(s):  
Sergey Pisetskiy ◽  
Mehrdad Kermani
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Dynamic Range ◽  
Complete Analysis ◽  
Mass Ratio ◽  
Direct Drive ◽  
Element Analysis ◽  
Prototype Development ◽  
Magneto Rheological ◽  
Hall Sensors

This paper presents an improved design, complete analysis, and prototype development of high torque-to-mass ratio Magneto-Rheological (MR) clutches. The proposed MR clutches are intended as the main actuation mechanism of a robotic manipulator with five degrees of freedom. Multiple steps to increase the toque-to-mass ratio of the clutch are evaluated and implemented in one design. First, we focus on the Hall sensors’ configuration. Our proposed MR clutches feature embedded Hall sensors for the indirect torque measurement. A new arrangement of the sensors with no effect on the magnetic reluctance of the clutch is presented. Second, we improve the magnetization of the MR clutch. We utilize a new hybrid design that features a combination of an electromagnetic coil and a permanent magnet for improved torque-to-mass ratio. Third, the gap size reduction in the hybrid MR clutch is introduced and the effect of such reduction on maximum torque and the dynamic range of MR clutch is investigated. Finally, the design for a pair of MR clutches with a shared magnetic core for antagonistic actuation of the robot joint is presented and experimentally validated. The details of each approach are discussed and the results of the finite element analysis are used to highlight the required engineering steps and to demonstrate the improvements achieved. Using the proposed design, several prototypes of the MR clutch with various torque capacities ranging from 15 to 200 N·m are developed, assembled, and tested. The experimental results demonstrate the performance of the proposed design and validate the accuracy of the analysis used for the development.

scholarly journals AN EFFICIENT METHOD FOR HAND GESTURE RECOGNITION USING ROBUST FEATURES VECTOR

2021 ◽  
Vol 6 (22) ◽  
pp. 25-35
Author(s):  
A F M Saifuddin Saif ◽  
Zainal Rasyid Mahayuddin
Keyword(s):  
Gesture Recognition ◽  
Efficient Method ◽  
Industrial Revolution ◽  
Hessian Matrix ◽  
Vital Role ◽  
Hand Gesture Recognition ◽  
Hand Gesture ◽  
Natural Mode ◽  
Interest Points ◽  
Human Machine Interaction

Integration of technology for the Fourth Industrial Revolution (IR 4.0) has increased the need for efficient methods for developing dynamic human computer interfaces and virtual environments. In this context, hand gesture recognition can play a vital role to serve as a natural mode of interactive human machine interaction. Unfixed brightness, complex backgrounds, color constraints, dependency on hand shape, rotation, and scale variance are the challenging issues which have an impact on robust performance for the existing methods as per outlined in previous researches. This research presents an efficient method for hand gesture recognition by constructing a robust features vector. The proposed method is performed in two phases, where in the first phase the features vector is constructed by selecting interest points at distinctive locations using a blob detector based on Hessian matrix approximation. After detecting the area of the hand from the features vector, edge detection is applied in the isolated hand followed by edge orientation computation. After this, templates are generated using one and two dimensional mapping to compare candidate and prototype images using adaptive threshold. The proposed research performed extensive experimentation, where a recognition accuracy rate of 98.33% was achieved by it, which is higher as compared to previous research results. Experimental results reveal the effectiveness of the proposed methodology in real time.

scholarly journals Economies of Scale and Network Economies in Industry 4.0. Theoretical Analysis and Future Directions of Research

2018 ◽  
Author(s):  
Giacomo Büchi ◽  
Monica Cugno ◽  
Rebecca Castagnoli
Keyword(s):  
Mass Production ◽  
Industry 4.0 ◽  
Economies Of Scale ◽  
Industrial Revolution ◽  
New Production ◽  
Future Directions ◽  
Enabling Technologies ◽  
Production Models ◽  
Cost Differentials

This paper analyses the role of cost differentials in the fourth industrial revolution. It uses a literature review in order to identify origins, definitions, enabling technologies and changes in company productivity. Research results show how certain Industry 4.0 enabling technologies help obtain better economic results in mass production and others that support new production models in mass production: mass customization and mass personalization. This paper is of a theoretical nature and identifies certain reflections concerning Industry 4.0’s role in managerial literature by providing interesting lines to be developed in future directions of research.

Laser Additive Manufacturing in Industry 4.0

2021 ◽  
pp. 729-754
Author(s):  
Christ P. Paul ◽  
Arackal N. Jinoop ◽  
Saurav K. Nayak ◽  
Alini C. Paul
Keyword(s):  
Additive Manufacturing ◽  
Industry 4.0 ◽  
High Performance ◽  
Industrial Revolution ◽  
Developing Economies ◽  
New Technology ◽  
Industrial Applications ◽  
Laser Additive Manufacturing ◽  
Global Status ◽  
Feature Based Design

Additive manufacturing is one of the nine technologies fuelling the fourth industrial revolution (Industry 4.0). High power lasers augmented with allied digital technologies is changing the entire manufacturing scenario through metal additive manufacturing by providing feature-based design and manufacturing with the technology called laser additive manufacturing (LAM). It enables the fabrication of customized components having complex and lightweight designs with high performance in a short period. The chapter compiles the evolution and global status of LAM technology highlighting its advantages and freedoms for various industrial applications. It discusses how LAM is contributing to Industry 4.0 for the fabrication of customized engineering and prosthetic components through case studies. It compiles research, development, and deployment scenarios of this new technology in developing economies along with the future scope of the technology.

Technology Utilization as Competitive Advantage - A Sociotechnical Approach to High Performance Work Systems

2014 ◽  
Vol 1039 ◽  
pp. 555-561 ◽  
Author(s):  
Gaute Knutstad ◽  
Johan E. Ravn
Keyword(s):  
Knowledge Sharing ◽  
High Performance ◽  
State Of The Art ◽  
Knowledge Generation ◽  
High Tech ◽  
Human Machine Interaction ◽  
Work Systems ◽  
High Performance Work Systems ◽  
Industrial Sectors ◽  
High Level

This conceptual paper underlines the necessity of research into sociotechnical systems in modern high-tech industries. Production of sophisticated products is foreseen to build the competitiveness of the advanced economies’ industrial sectors in the future. Increasingly, competitiveness in such industries depends on a complex interaction between social factors such as knowledge sharing, knowledge generation, learning and innovation, and technical factors such as robotization, automation and information systems. However, up to now, improvements and developments in these industries have tended to be biased towards the technology side. To balance this and to take into account the necessity of more effective human – machine interaction, and the need of knowledge sharing, learning and innovation, it proposes a mode for how to challenge highly automated, high-tech and knowledge based high-cost manufacturing, where: 1) State-of-the-art technology is necessary, but not sufficient; 2) state-of-the-art technology requires high level of competence and advanced organization, and 3) a joint organizational and technical perspective is needed in order to develop sustainable competitiveness through high performance work systems in high-tech manufacturing. Operational excellence in such niches requires companies that, through sophisticated practices of organization and management, are able to exploit systems of advanced manufacturing technology.

scholarly journals Tackling Faults in the Industry 4.0 Era—A Survey of Machine-Learning Solutions and Key Aspects

Sensors ◽  
2019 ◽  
Vol 20 (1) ◽  
pp. 109 ◽  
Author(s):  
Angelos Angelopoulos ◽  
Emmanouel T. Michailidis ◽  
Nikolaos Nomikos ◽  
Panagiotis Trakadas ◽  
Antonis Hatziefremidis ◽  
...  
Keyword(s):  
Machine Learning ◽  
Cyber Security ◽  
Industry 4.0 ◽  
Industrial Revolution ◽  
Optimization Techniques ◽  
Human Machine Interaction ◽  
Research Fields ◽  
Prediction And Prevention ◽  
Conventional Optimization ◽  
Manufacturing Data

The recent advancements in the fields of artificial intelligence (AI) and machine learning (ML) have affected several research fields, leading to improvements that could not have been possible with conventional optimization techniques. Among the sectors where AI/ML enables a plethora of opportunities, industrial manufacturing can expect significant gains from the increased process automation. At the same time, the introduction of the Industrial Internet of Things (IIoT), providing improved wireless connectivity for real-time manufacturing data collection and processing, has resulted in the culmination of the fourth industrial revolution, also known as Industry 4.0. In this survey, we focus on the vital processes of fault detection, prediction and prevention in Industry 4.0 and present recent developments in ML-based solutions. We start by examining various proposed cloud/fog/edge architectures, highlighting their importance for acquiring manufacturing data in order to train the ML algorithms. In addition, as faults might also occur from sources beyond machine degradation, the potential of ML in safeguarding cyber-security is thoroughly discussed. Moreover, a major concern in the Industry 4.0 ecosystem is the role of human operators and workers. Towards this end, a detailed overview of ML-based human–machine interaction techniques is provided, allowing humans to be in-the-loop of the manufacturing processes in a symbiotic manner with minimal errors. Finally, open issues in these relevant fields are given, stimulating further research.

scholarly journals Electromechanical Design of Self-Similar Inspired Surface Electrodes for Human-Machine Interaction

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-14 ◽  
Author(s):  
YongAn Huang ◽  
Wentao Dong ◽  
Chen Zhu ◽  
Lin Xiao
Keyword(s):  
High Performance ◽  
Electrical Coupling ◽  
Interfacial Strength ◽  
Motion Artifacts ◽  
High Signal ◽  
Electrical Stability ◽  
Human Machine Interaction ◽  
Surface Electrodes ◽  
Self Similar ◽  
Machine Interaction

Stable acquisition of electromyography (EMG)/electrocardiograph (ECG) signal is critical and challenging in dynamic human-machine interaction. Here, self-similar inspired configuration is presented to design surface electrodes with high mechanical adaptability (stretchability and conformability with skin) and electrical sensitivity/stability which are usually a pair of paradoxes. Mechanical and electrical coupling optimization strategies are proposed to optimize the surface electrodes with the 2nd-order self-similar serpentine configuration. It is devoted the relationship between the geometric shape parameters (height-space ratio η, scale factor β, and line width w), the areal coverage α, and mechanical adaptability, based on which an open network-shaped electrode is designed to stably collect high signal-to-noise ratio signals. The theoretical and experimental results show that the electrodes can be stretched > 30% and conform with skin wrinkle. The interfacial strength of electrode and skin is measured by homemade peeling test experiment platform. The surface electrodes with different line widths are used to record ECG signals for validating the electrical stability. Conformability reduces background noises and motion artifacts which provides stable recording of ECG/EMG signals. Further, the thin, stretchable electrodes are mounted on the human epidermis for continuous, stable biopotential signal records which suggests the way to high-performance electrodes in human-machine interaction.

scholarly journals DEVELOPMENT OF A PORTABLE HIGH PERFORMANCE MOBILE MAPPING SYSTEM USING THE ROBOT OPERATING SYSTEM

2018 ◽  
Vol IV-1 ◽  
pp. 13-20 ◽  
Author(s):  
S. Blaser ◽  
S. Cavegn ◽  
S. Nebiker
Keyword(s):  
Operating System ◽  
High Performance ◽  
Facility Management ◽  
Rapid Progression ◽  
Mobile Mapping ◽  
Robot Operating System ◽  
Industrial Grade ◽  
Outdoor Environments ◽  
Order Of Magnitude ◽  
Sensor Configuration

<p><strong>Abstract.</strong> The rapid progression in digitalization in the construction industry and in facility management creates an enormous demand for the efficient and accurate reality capturing of indoor spaces. Cloud-based services based on georeferenced metric 3D imagery are already extensively used for infrastructure management in outdoor environments. The goal of our research is to enable such services for indoor applications as well. For this purpose, we designed a portable mobile mapping research platform with a strong focus on acquiring accurate 3D imagery. Our system consists of a multi-head panorama camera in combination with two multi-profile LiDAR scanners and a MEMS-based industrial grade IMU for LiDAR-based online and offline SLAM. Our modular implementation based on the Robot Operating System enables rapid adaptations of the sensor configuration and the acquisition software. The developed workflow provides for completely GNSS-independent data acquisition and camera pose estimation using LiDAR-based SLAM. Furthermore, we apply a novel image-based georeferencing approach for further improving camera poses. First performance evaluations show an improvement from LiDAR-based SLAM to image-based georeferencing by an order of magnitude: from 10&amp;ndash;13<span class="thinspace"></span>cm to 1.3&amp;ndash;1.8<span class="thinspace"></span>cm in absolute 3D point accuracy and from 8&amp;ndash;12<span class="thinspace"></span>cm to sub-centimeter in relative 3D point accuracy.</p>

scholarly journals Penerapan Algoritma Naïve Bayes Classifier Untuk Meningkatkan Keamanan Data Dari Website Phising

Respati ◽  
2019 ◽  
Vol 14 (2) ◽  
Author(s):  
Agus Fatkhurohman ◽  
Eli Pujastuti
Keyword(s):  
Big Data ◽  
Credit Card ◽  
Intelligent Systems ◽  
Industrial Revolution ◽  
Intelligent System ◽  
The Internet ◽  
Phishing Attacks ◽  
Data Theft ◽  
Data Requirements ◽  
Internet Network

 INTISARIPerkembangan zaman di era modern ini sudah memasuki era revolusi industri 4.0, dimana segala aspek sudah bergantung pada sebuah teknologi. Dimana bentuk teknologi ini sudah bergerak secara otomatis dan saling terhubung dengan jaringan internet. Teknologi yang digunakan sudah bergerak otomatis dan sudah banyak yang menggunakan sebuah system cerdas. Berbicara mengenai jaringan internet dan system cerdas, maka keterkaitan dengan sebuah data yang digunakan akan semakin besar bahkan bisa sampai tergolong data dengan kategori big data. Yang mana tempat penyimpanan data juga harus disesuaikan dengan kebutuhan datanya. Selain dengan kebutuhan data yang semakin besar di era revolusi industry ini yang selalu dikaitkan dengan jaringan internet maka keamanan sebuah data juga perlu dipertanyakan. Secara tidak langsung keamanan data juga bisa menjadi masalah besar. Dengan jaringan internet setiap orang di setiap dunia bisa mengakses sebuah data yang terkoneksi dengan jaringan internet. Tidak asing lagi sekarang sudah banyak kasus pencurian data karena terhubung dengan jaringan internet. Kasus pencurian data ini sering memanfaatkan website sebagai sarana untuk mencuri datanya yang sering disebut dengan istilah website phising. Phishing masih menjadi vektor serangan teratas yang memberi akses ke penyerang untuk membuka informasi pribadi seperti kredensial login dan nomor kartu kredit. Pada 2017 lalu, Indonesia menempati urutan ke-9 jumlah serangan phising yakni satu phishing insiden per 2.380 email. Laporan terbaru F5 yang bertajuk menyebutkan, insiden penipuan (fraud) pada Oktober, November, dan Desember melonjak 50% dari rata-rata tahunan. Berpura-pura menjadi seseorang atau entitas yang terkenal adalah taktik utama. Sebanyak 71% serangan phishing pada periode 1 september – 31 Oktober 2018 menggunakan modus mengaku dari perusahaan terkenal, khususnya di industri teknologi.Kata kunci :  jaringan, internet, sistem cerdas, website phising, serangan. ABSTRACT        The development of the era in this modern era has entered the era of industrial revolution 4.0, where all aspects have depended on a technology. Where this form of technology has moved automatically and interconnected with internet networks. The technology used has moved automatically and many have used an intelligent system. Talking about the internet network and intelligent systems, the linkages with the data used will be even greater and can even be classified as data with the big data category. Which is where the data storage must also be adjusted to the data requirements. In addition to the increasing data requirements in the industrial revolution era which are always associated with the internet network, the security of a data also needs to be questioned. Indirectly data security can also be a big problem. With the internet network everyone in every world can access a data that is connected to the internet network. No stranger now there are many cases of data theft because it is connected to the internet network. This data theft case often uses websites as a means to steal data which is often referred to as phishing websites.        Phishing is still the top attack vector that gives attackers access to private information such as login credentials and credit card numbers. In 2017, Indonesia ranked 9th in the number of phishing attacks, one phishing incident per 2,380 emails. The latest F5 report entitled, fraud in October, November and December increased by 50% from the annual average. Pretending to be someone or a famous entity is the main tactic. As many as 71% of phishing attacks in the period 1 September - 31 October 2018 use the mode claimed to be from a well-known company, especially in the technology industry.Keywords: network, internet, intelligents systems, website phishing, attack.

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